A low-cost localization system based on artificial landmarks with two degree of freedom platform camera

Robot localization is one of the hottest research spots. Many scholars have studied the landmark localization which is cheap, stable, and simple in the indoor environment. This paper presents a low-cost localization system based on the artificial landmarks with two degree of freedom platform camera. The landmarks are put on the ceiling in order to decrease the interference. A 2-DOF pan-tilt has been used to help the camera track landmarks so that the landmark velocity in the picture is low enough to avoid that the robot can´t recognize landmarks because of the high speed. Using the pan-tilt can also expand the recognition range and decrease the number of landmarks. The experiments have shown that the robot can recognize landmarks well when it moves fast by using the 2-DOF pan-tilt, besides, the localization works very well.